• Date: December 2016

This is a two-wheeled self-balancing robot, similar to a Segway. Kris Burney and I built this for a final class project.

An Android app acts as the controller, and outputs motor control using serial communication over the headphone jack. See my blog post for more info about the communication. The angle is determined by fusing data from the phone’s built-in accelerometer and gyroscope using a complementary filter. Balancing is achieved by using a PID controller on the angle, controlling the duty cycle of the motors.